Ros安装

ubuntu 18.04 ROS 安装

打开终端依次输入

1.sudo apt-get update -y
2.sudo apt-get upgrade -y
3.sudo apt-get install meld build-essential libfontconfig1 mesa-common-dev libglu1-mesa-dev -y
4.cd $HOME
5.sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
6.wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
7.sudo apt-get update -y
8.sudo apt-get install ros-melodic-desktop-full -y
9.sudo rosdep init
10.rosdep update
11.sudo apt-get install python-rosinstall ros-melodic-moveit ros-melodic-industrial-core python-catkin-tools ros-melodic-openni-camera ros-melodic-openni-launch ros-melodic-openni2-camera ros-melodic-openni2-launch ros-melodic-moveit-commander ros-melodic-moveit-planners ros-melodic-moveit-plugins ros-melodic-moveit-ros ros-melodic-moveit-setup-assistant ros-melodic-gazebo-ros-pkgs ros-melodic-gazebo-ros-control -y
12.echo "source /opt/ros/melodic/setup.bash" >> $HOME/.bashrc
13.source $HOME/.bashrc
14.roscore(看是否正常运行)

一个小测试：
终端输入
roscore
新终端输入，出现小乌龟窗口
rosrun turtlesim turtlesim_node
新终端输入，鼠标放在终端，可用方向键移动小乌龟
rosrun turtlesim turtle_teleop_key
新终端输入，可以看到ros图形化界面，展示节点关系
rosrun rqt_graph rqt_graph